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Overview

This package detects ellipses in camera images and computes the 3D pose of the related circle if the radius of the circle is given. The current 3D pose estimation is based on the [Chen2004]. Varius Parameter and algorithm used to find ellipses can be tuned via ros shared parameters or by using the dynamic reconfigure intervade.

Chen2004) Chen, Q.; Wu, H. & Wada, T. Pajdla, T. & Matas, J. (Eds.) Camera Calibration with Two Arbitrary Coplanar Circles Computer Vision - ECCV 2004, Springer Berlin Heidelberg, 2004, 3023, 521-532, http://link.springer.com/chapter/10.1007/978-3-540-24672-5_41

ellipse_detection.jpg Detected Ellipses with projected normals of the two possible pose solutions.

ellipse_reconfigure.jpg Dynamic reconfigure interface

Examples


2024-07-06 14:32